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56 lines
1.7 KiB
56 lines
1.7 KiB
6 years ago
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_SERVOS
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#include "../gcode.h"
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#include "../../module/servo.h"
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void GcodeSuite::M281() {
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if (!parser.seen('P')) return;
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const int servo_index = parser.value_int();
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if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
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bool angle_change = false;
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if (parser.seen('L')) {
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servo_angles[servo_index][0] = parser.value_int();
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angle_change = true;
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}
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if (parser.seen('U')) {
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servo_angles[servo_index][1] = parser.value_int();
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angle_change = true;
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}
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if (!angle_change) {
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SERIAL_ECHO_START();
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SERIAL_ECHOPAIR(" Servo ", servo_index);
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SERIAL_ECHOPAIR(" L", servo_angles[servo_index][0]);
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SERIAL_ECHOLNPAIR(" U", servo_angles[servo_index][1]);
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}
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}
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else {
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SERIAL_ERROR_START();
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SERIAL_ECHOPAIR("Servo ", servo_index);
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SERIAL_ECHOLNPGM(" out of range");
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}
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}
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#endif
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